A Review on Optimal Placement of Sensors for Cooperative Localization of AUVs

Table 1

Analysis and comparison of cooperative localization techniques.

Localization techniques	Advantages	Disadvantages	Applicable conditions	In literature of optimal sensor placements; (Ref number)
Time of Arrival	High accuracy which is not much affected by range; significant literature available	Time synchronization between sensors and targets required	Suitable for long rage, NLOS operations	[27–35]
Angle of Arrival	Clock synchronization not required between targets and sensors; Smaller number of sensors required	Accuracy decreases with range; High accuracy directional antennas are to be installed, additionally	Suitable for short ranges when there is limitation on number of sensors	[36, 37]
Time Difference of Arrival	High accuracy even at long ranges; No time synchronization between sensors and target required	Larger number of sensors required as compared to other methods	Best option for long ranges operations when larger number of sensors are available	[38]
Received Signal strength	Does not need to install extra hardware in both, targets and sensors	Severely affected by multipath, NLOS and other underwater environmental conditions	Suitable for short ranges and LOS communication only	None